Websocket Data

This document describes the JSON object send back from the simulator command server.

Fields:

• ptsx (Array) - The global x positions of the waypoints.
• ptsy (Array) - The global y positions of the waypoints. This corresponds to the z coordinate in Unity since y is the up-down direction.
• psi (float) - The orientation of the vehicle in radians converted from the Unity format to the standard format expected in most mathemetical functions (more details below).
• psi_unity (float) - The orientation of the vehicle in radians. This is an orientation commonly used in navigation.
• x (float) - The global x position of the vehicle.
• y (float) - The global y position of the vehicle.
• steering_angle (float) - The current steering angle in radians.
• throttle (float) - The current throttle value [-1, 1].
• speed (float) - The current velocity in mph.

psi and psi_unity representations

psi

//            90
//
//  180                   0/360
//
//            270

psi_unity

//            0/360
//
//  270                   90
//
//            180